KR102015323B1 - Side brush assembly, robot cleaner and method for controlling the robot cleaner - Google Patents
Side brush assembly, robot cleaner and method for controlling the robot cleaner Download PDFInfo
- Publication number
- KR102015323B1 KR102015323B1 KR1020120131379A KR20120131379A KR102015323B1 KR 102015323 B1 KR102015323 B1 KR 102015323B1 KR 1020120131379 A KR1020120131379 A KR 1020120131379A KR 20120131379 A KR20120131379 A KR 20120131379A KR 102015323 B1 KR102015323 B1 KR 102015323B1
- Authority
- KR
- South Korea
- Prior art keywords
- side arm
- lever
- main body
- side brush
- cam
- Prior art date
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
- A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/02—Nozzles
- A47L9/04—Nozzles with driven brushes or agitators
- A47L9/0405—Driving means for the brushes or agitators
- A47L9/0411—Driving means for the brushes or agitators driven by electric motor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
- A47L9/2847—Surface treating elements
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
The present invention relates to a side brush assembly mounted on a side arm capable of protruding and returning a side brush unit and a robot cleaner using the same.
Robot cleaner according to an embodiment of the present invention, the body traveling on the floor to remove dust from the floor; And at least one side brush assembly provided in the main body to widen the dust removing area of the bottom, wherein the side brush assembly comprises: a side brush main body forming an appearance; A side arm mounted below the side brush body, the side arm protruding outwardly of the body; A side brush unit rotatably mounted to the side arm; A lever connected to the side arm and rotating together with the side arm; A cam that receives the driving force from the drive motor and rotates; And an elastic member connecting the lever and the cam and transmitting the elastic force to the lever to rotate the lever.
Description
The present invention relates to a side brush assembly, a robot cleaner and a control method of the robot cleaner mounted on a side arm capable of protruding and returning the side brush unit.
The robot cleaner is a device that performs cleaning by suctioning foreign substances such as dust from the floor while driving the cleaning area by itself without a user's manipulation. The robot cleaner determines the distance to obstacles such as furniture, office supplies, and walls installed in the cleaning area through the distance sensor, and cleans the cleaning area while switching directions by selectively driving the left and right wheel motors of the robot cleaner.
The robot cleaner includes a brush unit that collects dust. The robot cleaner may further include a side brush assembly to widen the cleaning area of the robot cleaner.
According to one embodiment of the present invention, the side brush unit is protruded to implement a robot cleaner that can sweep the dust of the corner that the body of the robot cleaner is not close. In addition, it is possible to prevent the side brush unit from being damaged by an external obstacle. In addition, the side arm can be reliably introduced into the body.
Robot cleaner according to an embodiment of the present invention, the body traveling on the floor to remove dust from the floor; And at least one side brush assembly provided in the main body to widen the dust removing area of the bottom, wherein the side brush assembly comprises: a side brush main body forming an appearance; A side arm mounted below the side brush body, the side arm protruding outwardly of the body; A side brush unit rotatably mounted to the side arm; A lever connected to the side arm and rotating together with the side arm; A cam that receives the driving force from the drive motor and rotates; And an elastic member connecting the lever and the cam and transmitting the elastic force to the lever to rotate the lever.
A through hole is formed in the side brush body, and a shaft inserted into the through hole connects through the side brush body and the lever.
A slit is formed adjacent to the through hole.
The lever is provided with a guide pin, and the guide pin moves along the slit as the lever rotates.
When the cam is driven and rotated by the drive motor, the guide pin moves in one direction along the slit by the elastic force of the elastic member, and the side arm protrudes out of the main body.
When an external force is applied in a direction of returning the side arm into the main body while the side arm protrudes outside the main body, the guide pin moves in the other direction along the slit, and when the external force is removed, the elastic member is The guide pin is moved in one direction along the slit by the elastic force to return the side arm to the state protruding to the outside of the main body.
When an external force is applied in a direction in which the side arm protrudes outward from the main body while the side arm is inserted into the main body, the guide pin moves in one direction along the slit, and the elastic member is removed when the external force is removed. The guide pin is moved in the other direction along the slit by the elastic force of the to return the side arm is retracted into the main body.
A part of the lever protrudes outward to form a locking part.
The locking portion is interfered by the cam in the state where the side arm is inserted into the main body, and even though an external force acts in the direction of protruding the side arm to the outside of the main body, the locking portion interferes with the cam and the lever rotates. I never do that.
The guide pin is integrally formed with the lever.
The side brush assembly is detachably mounted to the bottom of the body.
A coupling hole is formed in the side brush body, and the side brush body is coupled to the body by a fastening member penetrating the coupling hole and the bottom surface of the body.
The side arm is provided with a drive shaft mounted to the side brush unit and a side brush drive motor for rotating by providing power to the drive shaft.
Side brush assembly according to an embodiment of the present invention, the side brush body formed with a receiving portion; A drive motor accommodated in the accommodation portion; A cam that receives power from the drive motor and rotates; A lever rotatably provided at the side brush body; An elastic member which connects the cam and the lever and is tensioned by rotation or external force of the cam to rotate the lever; A side arm rotatably integrated with the lever; And a side brush unit rotatably mounted to the side arm.
The side arm and the lever are mounted and fixed to both ends of the shaft passing through the side brush body, respectively.
The side arm rotates in one direction by an external force, and when the external force is removed, rotates in the other direction to return to the original position.
Protruding to one side of the lever is formed locking portion.
If the cam does not rotate when the driving force is supplied from the driving motor, the locking portion is interfered by the cam and rotation of the lever and the side arm is limited.
A slit is formed in the side brush body, and the lever is provided with a guide pin guided by the slit.
Rotation of the side arm in at least one direction may be limited by the length of the slit.
Robot cleaner according to an embodiment of the present invention, the body traveling on the floor to remove dust from the floor; A side brush body provided inside the body and having a receiving portion; A drive motor accommodated in the accommodation portion; A cam that receives power from the drive motor and rotates; A pressing unit mounted to the cam and moving integrally with the cam; A side arm protruding from the main body or drawn into the main body by the rotation of the cam; A control unit controlling the driving of the driving motor; And a sensor mounted on the side brush body and detecting whether the side arm is completely inserted into the side brush body.
The sensor includes a switch, and the pressing unit presses the switch when the side arm is completely drawn into the main body.
When the pressing unit presses the switch, the sensor transmits information to the controller that the side arm is completely drawn into the main body.
The number of steps of the driving motor driven when the side arm protrudes or returns is preset.
When the side arm returns to the inside of the main body, if the switch is not pressed after the drive motor is driven by a predetermined number of steps, the controller determines that the side arm is interfered by an obstacle.
A control method of a robot cleaner according to an embodiment of the present invention includes a first step of driving a driving motor to rotate a side arm so that the side arm returns to the inside of the main body; A second step of determining whether the driving motor is driven by a predetermined number of steps; Determining whether the switch is pressed by the side arm; A fourth step of determining whether a waiting time has elapsed while the rotation of the drive motor is stopped; A fifth step of driving the driving motor to rotate the side arms so that the side arms return to the inside of the main body; And a sixth step of determining whether the switch is pressed.
In the third step, when it is detected that the switch is pressed by the side arm, the side arm is regarded as completely returned to the inside of the main body and ends the return operation of the side arm.
In the fourth step, during the waiting time, the robot cleaner removes an obstacle that interferes with the side arm by rotating or linearly operating.
In the sixth step, if the switch is not detected as being pressed, the fifth step is repeated.
Driving the driving motor to rotate the side arms to protrude out of the main body; Determining whether the driving motor is driven by a predetermined number of steps; And stopping driving of the driving motor.
According to one embodiment of the present invention, since the side arm mounted with the side brush unit may protrude, the cleaning area may be widened. In addition, it is possible to prevent the side brush unit from being damaged by interference with an external obstacle. The side brush unit may be prevented from forcibly protruding by an external obstacle in a state where the side brush unit does not protrude. In addition, it is possible to detect whether the side arm is fully inserted into the main body to prevent the return operation is stopped in the protruding state of the side arm.
1 (a) and 1 (b) are perspective views showing a robot cleaner according to an embodiment of the present invention.
2 (a) and 2 (b) is a bottom view showing a robot cleaner according to an embodiment of the present invention.
3 is a view showing a state in which the side brush assembly of the robot cleaner according to an embodiment of the present invention is separated.
4 is a perspective view illustrating a side brush assembly according to a first embodiment of the present invention.
5 is an exploded perspective view of the side brush assembly according to the first embodiment of the present invention.
6 is a view showing a state in which the cover of the side brush assembly according to the first embodiment of the present invention is removed.
7 to 10 are views illustrating the operation of the side brush assembly according to the first embodiment of the present invention.
11 is an exploded perspective view of a side brush assembly according to a second embodiment of the present invention.
12 is a view showing a state in which the cover of the side brush assembly according to the second embodiment of the present invention is removed.
13 to 15 are views illustrating the operation of the side brush assembly according to the second embodiment of the present invention.
16 is a view illustrating a locked state of a side brush assembly according to a second embodiment of the present invention.
17 is a view showing a side brush assembly in a state in which the side arm is protruding according to the present invention.
18 is a view showing a side brush assembly in a side arm folded state according to the present invention.
19 is a flowchart related to the control of the motion of the side arm protruding according to the present invention.
20 is a flowchart relating to the control of the folding operation of the side arm according to the present invention.
Hereinafter, a side brush assembly, a robot cleaner, and a method of controlling the robot cleaner according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
1 (a) and 1 (b) is a perspective view showing a robot cleaner according to an embodiment of the present invention, Figures 2 (a) and 2 (b) is a robot cleaner according to an embodiment of the
1 (a) to 3, the
The
Two
The caster 5 is installed at the front edge of the lower part of the
The
Although not shown in the drawings, a blower for generating a suction force is provided inside the
The
One side of the
The
The
Hereinafter, the configuration of the
Figure 4 is a perspective view showing a side brush assembly according to a first embodiment of the present invention, Figure 5 is an exploded perspective view of a side brush assembly according to a first embodiment of the present invention, Figure 6 is a first embodiment of the present invention FIG. Is a view illustrating a case where a cover of a side brush assembly is removed.
4 to 6, the
An
The
The
The
The
A
The lower side of the
The
The
The side arm
Meanwhile, a gear part may be formed on the driving
Hereinafter, the operation of the
7 to 10 are views illustrating the operation of the side brush assembly according to the first embodiment of the present invention.
FIG. 7 illustrates a
As a result, the
As shown in FIG. 8, when the
In the initial state of FIG. 7, when an external force in the E direction that can protrude the
Even if there is interference caused by an obstacle by the elastic force of the
FIG. 11 is an exploded perspective view of a side brush assembly according to a second embodiment of the present invention, and FIG. 12 is a view showing a state in which a cover of the side brush assembly according to the second embodiment of the present invention is removed.
11 and 12, the
An
Information regarding the
The
The
Hereinafter, the operation of the
13 to 15 are views showing the operation of the side brush assembly according to the second embodiment of the present invention, Figure 16 is a view showing a state in which the side brush assembly is locked according to the second embodiment of the present invention. .
FIG. 13 is a view illustrating a
When the driving
As a result, the
As shown in FIG. 14, when the
As shown in FIGS. 13 and 16, in the initial state in which the
In detail, in the initial state, the locking
As described above, according to the side brush assembly and the robot cleaner using the same according to the first and second embodiments of the present invention, since the side arm on which the side brush unit is mounted may protrude, the cleaning area can be widened. In addition, the side arm can be prevented from being damaged by the obstacle. Even if the external arm is subjected to an external force in the initial state where the side arm does not protrude, the external arm can be prevented from protruding outside the main body. Since the side brush assembly is modularized and mounted on the main body, even if a failure occurs in the side brush unit or the side arm, it is possible to solve the failure by simply removing the side brush assembly without disassembling the entire main body.
FIG. 17 is a view illustrating a side brush assembly in a state where a side arm protrudes, and FIG. 18 is a view illustrating a side brush assembly in a side arm folded state according to the present invention.
17 and 18, the
One side of the
When the
When the
Hereinafter, the control of the operation | movement which a
19 is a flowchart related to the control of the motion of the side arm protruding according to the present invention.
Referring to FIG. 19, the controller (not shown) rotates the driving
When the
The final angle at which the
In this case, as the driving
The controller (not shown) may preset a number of steps in which the motor shaft of the driving
Whether the motor shaft of the driving
When the motor shaft of the driving
20 is a flowchart related to the control of the operation of returning the side arm according to the present invention.
Referring to FIG. 20, the controller (not shown) rotates the motor shaft of the driving
The controller (not shown) determines whether the motor shaft of the driving
If it is determined that the motor shaft of the driving
When the rotation of the motor shaft is stopped, the controller (not shown) determines whether the
If it is determined that the
The controller (not shown) determines whether the waiting time has elapsed while the driving of the driving
When the waiting time elapses while the driving of the driving
After the waiting time has elapsed, if the
As described above, the
Claims (30)
At least one side brush assembly provided in the main body to widen the dust removing area of the bottom;
The side brush assembly,
A side brush body forming an appearance;
A side arm mounted below the side brush body, the side arm protruding outwardly of the body;
A side brush unit rotatably mounted to the side arm;
A lever connected to the side arm and rotating together with the side arm;
A cam that receives the driving force from the drive motor and rotates; And
And an elastic member connecting the lever and the cam and transmitting an elastic force to the lever to rotate the lever.
A through-hole is formed in the side brush body, and the shaft inserted into the through-hole is connected to the side brush body and the lever through the robot cleaner.
A robot cleaner having a slit formed adjacent to the through hole.
The lever is provided with a guide pin, the robot cleaner to move the guide pin along the slit as the lever rotates.
When the cam is driven and rotated by the drive motor, the guide pin is moved in one direction along the slit by the elastic force of the elastic member, and the side arm protrudes out of the main body.
When an external force is applied in a direction of returning the side arm into the main body while the side arm protrudes outside the main body, the guide pin moves in the other direction along the slit, and when the external force is removed, the elastic member is The guide cleaner is moved in one direction along the slit by the elastic force to return the side arm protrudes to the outside of the main body.
When an external force is applied in a direction in which the side arm protrudes outward from the main body while the side arm is inserted into the main body, the guide pin moves in one direction along the slit, and the elastic member is removed when the external force is removed. The guide cleaner is moved in the other direction along the slit by the elastic force of the robot cleaner to return to the state in which the side arm is retracted in the main body.
A part of the lever protrudes outward to form a locking part.
The locking portion is interfered by the cam in the state where the side arm is inserted into the main body, and even though an external force acts in the direction of protruding the side arm to the outside of the main body, the locking portion interferes with the cam and the lever rotates. Robot cleaner that doesn't.
The guide pin is a robot cleaner formed integrally with the lever.
The side brush assembly is a robot cleaner detachably mounted on the bottom of the body.
A coupling cleaner is formed in the side brush body, and the side brush body is coupled to the body by a fastening member penetrating the coupling hole and the bottom surface of the body.
The side arm is a robot cleaner provided with a drive shaft mounted to the side brush unit and a side brush drive motor for rotating the power supply to the drive shaft.
A drive motor accommodated in the accommodation portion;
A cam that receives power from the drive motor and rotates;
A lever rotatably provided at the side brush body;
An elastic member which connects the cam and the lever and is tensioned by rotation or external force of the cam to rotate the lever;
A side arm rotatably integrated with the lever; And
And a side brush unit rotatably mounted to the side arm.
And the side arm and the lever are mounted and fixed to both ends of the shaft passing through the side brush body, respectively.
The side arm is rotated in one direction by the external force, when the external force is removed, the side brush assembly to return to the original position by rotating in the other direction.
A side brush assembly protruding on one side of the lever is formed with a locking portion.
If the cam does not rotate when the driving force is supplied from the drive motor, the locking portion is interfered by the cam to limit the rotation of the lever and the side arm assembly.
A slit is formed in the side brush body, and the lever is provided with a guide pin guided by the slit.
Side brush assembly that can be limited in the rotation of the side arm in at least one direction by the length of the slit.
A side brush body provided inside the body and having a receiving portion;
A drive motor accommodated in the accommodation portion;
A cam that receives power from the drive motor and rotates;
A pressing unit mounted to the cam and moving integrally with the cam;
A side arm protruding from the main body or drawn into the main body by the rotation of the cam;
A control unit controlling the driving of the driving motor; And
And a sensor mounted on the side brush body and configured to detect whether the side arm is completely inserted into the side brush body.
The sensor comprises a switch, the pressurizing portion presses the switch when the side arm is completely inserted into the main body.
And the sensor presses the switch so that the sensor transmits information to the controller that the side arm is completely inserted into the main body.
And the control unit has a predetermined number of steps of the driving motor driven when the side arm protrudes or returns.
And when the switch is not pressed after the drive motor is driven by a predetermined number of steps when the side arm returns to the inside of the main body, the controller determines that the side arm is interfered by an obstacle.
A second step of determining whether the driving motor is driven by a predetermined number of steps;
Determining whether the switch is pressed by the side arm;
A fourth step of determining whether a waiting time has elapsed while the rotation of the drive motor is stopped;
A fifth step of driving the driving motor to rotate the side arms so that the side arms return to the inside of the main body; And
And a sixth step of determining whether the switch is pressurized.
In the third step, if it is detected that the switch is pressed by the side arm and the side arm is completely returned to the inside of the main body control method of the robot cleaner to terminate the return operation of the side arm.
In the fourth step, the robot cleaner during the waiting time to control the robot cleaner to remove the obstacle to interfere with the side arm by rotating or linear operation.
In the sixth step, if it is detected that the switch is pressed, the control method of the robot cleaner to repeat the fifth step.
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2013309726A AU2013309726B2 (en) | 2012-08-30 | 2013-08-29 | Side brush assembly, robot cleaner and control method of robot cleaner |
PCT/KR2013/007756 WO2014035152A1 (en) | 2012-08-30 | 2013-08-29 | Side brush assembly, robot cleaner and control method of robot cleaner |
IN2236DEN2015 IN2015DN02236A (en) | 2012-08-30 | 2013-08-29 | |
JP2013178411A JP2014046207A (en) | 2012-08-30 | 2013-08-29 | Side brush assembly, robot cleaner and control method for the same |
CN201310388447.6A CN103654641B (en) | 2012-08-30 | 2013-08-30 | The control method of side brush assembly, robot cleaner and robot cleaner |
US14/014,902 US9414734B2 (en) | 2012-08-30 | 2013-08-30 | Side brush assembly, robot cleaner and control method of robot cleaner |
EP13182355.1A EP2702919B1 (en) | 2012-08-30 | 2013-08-30 | Robot cleaner and control method of robot cleaner |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020120095367 | 2012-08-30 | ||
KR20120095367 | 2012-08-30 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20140030008A KR20140030008A (en) | 2014-03-11 |
KR102015323B1 true KR102015323B1 (en) | 2019-08-28 |
Family
ID=50642770
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020120131379A KR102015323B1 (en) | 2012-08-30 | 2012-11-20 | Side brush assembly, robot cleaner and method for controlling the robot cleaner |
Country Status (3)
Country | Link |
---|---|
KR (1) | KR102015323B1 (en) |
AU (1) | AU2013309726B2 (en) |
IN (1) | IN2015DN02236A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023214684A1 (en) * | 2022-05-04 | 2023-11-09 | 삼성전자 주식회사 | Driving robot, control method of driving robot, and recording medium having recorded thereon computer program |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114794990B (en) * | 2022-05-27 | 2024-09-13 | 美智纵横科技有限责任公司 | Cleaning apparatus |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4201747B2 (en) * | 2004-07-29 | 2008-12-24 | 三洋電機株式会社 | Self-propelled vacuum cleaner |
KR20070107956A (en) * | 2006-05-04 | 2007-11-08 | 삼성전자주식회사 | Robot cleaner |
-
2012
- 2012-11-20 KR KR1020120131379A patent/KR102015323B1/en active IP Right Grant
-
2013
- 2013-08-29 AU AU2013309726A patent/AU2013309726B2/en active Active
- 2013-08-29 IN IN2236DEN2015 patent/IN2015DN02236A/en unknown
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023214684A1 (en) * | 2022-05-04 | 2023-11-09 | 삼성전자 주식회사 | Driving robot, control method of driving robot, and recording medium having recorded thereon computer program |
Also Published As
Publication number | Publication date |
---|---|
IN2015DN02236A (en) | 2015-08-21 |
KR20140030008A (en) | 2014-03-11 |
AU2013309726B2 (en) | 2016-05-19 |
AU2013309726A1 (en) | 2015-01-22 |
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